A kind of semi-active inertial device based on operational amplifier circuit

Abstract

The application discloses a kind of based on semi-active inertial suspension device of operational amplifier circuit, including top shell, DC brush motor, fixed bearing, shaft coupling, screw nut, bottom shell, ball screw, DC brush motor is installed on top shell, its motor shaft is connected with ball screw by shaft coupling, fixed bearing inner ring interference fit on ball screw at the end close to shaft coupling, outer ring interference fit on top shell reinforcing rib, bottom shell is sleeved on the outermost end of ball screw, fixed on the bottom surface of screw nut, the outer diameter of bottom shell is less than the inner diameter of top shell, it also includes controllable operational amplifier circuit module, controllable operational amplifier circuit module is fixed on top shell, close to DC brush motor one end, with DC brush motor wire connection.The application solves the problem that existing technology cannot adjust inertial suspension capacity alone in electromechanical combination scheme.

Description

Technical Field

[0001] This invention relates to the field of vibration control technology, and in particular to a semi-active capacitive device based on operational amplifier circuits. Background Technology

[0002] Inertial capacitance, proposed by Professor Smith in 2002, is a two-terminal mechanical element used to correspond to capacitance in circuit networks. Its mechanical characteristic is that the force acting on its ends is proportional to the acceleration at those ends; this ratio is called inertial capacity. Early inertial capacitance structures typically converted linear motion into the rotation of a flywheel using ball screws or rack and pinion mechanisms, thus storing energy as rotational inertia. Due to its energy storage properties, it is also commonly used in integrated mechanical network applications to achieve various mechanical characteristics. Subsequently, many researchers have coupled mechanical inertial capacitance with electrical networks through motors, altering the load characteristics of the electrical network to change the dynamic characteristics of the entire mechanical network, achieving significant research results. However, current technology lacks an electromechanical integration scheme that can independently adjust the inertial capacity. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide a semi-active inertial capacitance device based on an operational amplifier circuit that enables rapid and individual adjustment of inertial capacitance.

[0004] Technical Solution: To achieve the above objectives, the semi-active inertial capacity device based on operational amplifier circuits of the present invention includes a top housing, a DC brushed motor, a fixed bearing, a coupling, a lead screw nut, a bottom housing, and a ball screw. The DC brushed motor is mounted on the top housing, and its motor shaft is connected to the ball screw through the coupling. The ball screw drives the motor shaft of the DC brushed motor to rotate. The inner ring of the fixed bearing is interference-fitted onto the ball screw near the coupling end, and the outer ring is interference-fitted onto the reinforcing rib of the top housing. The lead screw nut is fitted onto the ball screw and moves linearly. The bottom housing is fitted onto the outermost end of the ball screw and fixed to the bottom surface of the lead screw nut. The outer diameter of the bottom housing is smaller than the inner diameter of the top housing. The device also includes a controllable operational amplifier circuit module for rapid adjustment of inertial capacity. The controllable operational amplifier circuit module is fixed on the top housing, near the DC brushed motor end, and connected to the DC brushed motor wires.

[0005] The controllable operational amplifier circuit module includes: a controllable capacitive gain circuit based on operational amplifiers, a voltage regulator circuit, a controller circuit, and a CAN communication circuit. The voltage generated by the electrical load terminal of the DC brushed motor is applied to the controllable capacitive gain circuit through the terminal block. The voltage regulator circuit regulates and steps down the external input control power supply to power the controllable capacitive gain circuit, the controller circuit, and the CAN communication circuit. The controller circuit communicates with the controllable capacitive gain circuit through the IIC bus and with the CAN communication circuit through the serial port.

[0006] The controllable capacitive gain circuit includes an operational amplifier circuit and a digital potentiometer circuit. The controller circuit communicates with the digital potentiometer circuit of the controllable capacitive gain circuit via an IIC bus. The operational amplifier circuit and the digital potentiometer circuit are connected via connection terminals.

[0007] The operational amplifier circuit includes: a proportional amplifier circuit, a first adder circuit, a differentiator circuit, and a second adder circuit. The proportional amplifier circuit includes: a first operational amplifier Q1, a first adjustable resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, and a fifth resistor R5. The positive input terminal of the first operational amplifier Q1 is connected to one end of the second resistor R2. The input terminal of the first adjustable resistor R1 is connected to terminal J2, and its output terminal is connected to the other end of the second resistor R2. The third resistor R3 serves as a differential signal input to the inverting input terminal of the first operational amplifier Q1. The fourth resistor R4 is connected between the inverting input terminal of the first operational amplifier Q1 and terminal J2. The fifth resistor R5 is connected between the output terminal and the positive input terminal of the first operational amplifier Q1.

[0008] The first adder circuit includes: a second operational amplifier Q2, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, and a ninth resistor R9. The sixth resistor R6 is connected between the output terminal of the first operational amplifier Q1 and the positive input terminal of the second operational amplifier Q2. The seventh resistor R7 is connected between the positive input terminal of the second operational amplifier Q2 and the input terminal of the first adjustable resistor R1. The eighth resistor R8 is connected between the inverting input terminal of the second operational amplifier Q2 and the terminal J2. The ninth resistor R9 is connected between the inverting input terminal and the output terminal of the second operational amplifier Q2.

[0009] The differentiating circuit includes: a third operational amplifier Q3, a tenth resistor R10, a digital potentiometer connection terminal J1, and a first capacitor C1. One end of the tenth resistor R10 is connected to the output terminal of the second operational amplifier Q2, and the other end is connected to one terminal of the first capacitor C1. The other terminal of the first capacitor C1 is connected to the positive input terminal of the third operational amplifier Q3. The inverting input terminal of the third operational amplifier Q3 is connected to the terminal J2. The digital potentiometer connection terminal J1 is connected between the positive input terminal and the output terminal of the third operational amplifier Q3.

[0010] The second adder circuit includes: amplifier Q4, eleventh resistor R11, twelfth resistor R12, thirteenth resistor R13, and fourteenth resistor R14. The eleventh resistor R11 is connected between the input terminal of the first adjustable resistor R1 and the positive input terminal of the fourth operational amplifier Q4. The twelfth resistor R12 is connected between the output terminal of the third operational amplifier Q3 and the positive input terminal of the fourth operational amplifier Q4. The thirteenth resistor R13 is connected between the inverting input terminal of the fourth operational amplifier Q4 and terminal J2. The fourteenth resistor R14 is connected between the inverting input terminal of the fourth operational amplifier Q4 and the output terminal of the fourth operational amplifier Q4. The output terminal of the fourth operational amplifier Q4 is connected to the output terminal of the first adjustable resistor R1.

[0011] The digital potentiometer circuit includes: a first digital potentiometer U1, a second digital potentiometer U2, a digital potentiometer output terminal J3, and a fifteenth resistor R15. The A0 and A1 pins of the first digital potentiometer U1 are grounded, and the A2 pin is connected to the +3V power supply through the fifteenth resistor R15. The A0 and A1 pins of the second digital potentiometer U2 are connected to the +3V power supply, and the A2 pin is connected to ground. The VSS pins of the first digital potentiometer U1 and the second digital potentiometer U2 are connected to the -3V power supply. The SCL pins of the first digital potentiometer U1 and the second digital potentiometer U2 are connected to PA2 of the microcontroller chip. The SDA pins of the first digital potentiometer U1 and the second digital potentiometer U2 are connected to PA3 of the microcontroller chip.

[0012] The first digital potentiometer U1 and the second digital potentiometer U2 are model TPL0102-100PWR.

[0013] The controller circuit includes: a microcontroller chip U3, a sixteenth resistor R16, a seventeenth resistor R17, a second capacitor C2, and a third capacitor C3. The second capacitor C2 and the third capacitor C3 are connected in parallel between the VDD and VSS pins of the microcontroller chip U3. The sixteenth resistor R16 is connected between the RESET pin of the microcontroller chip U3 and the positive 5V power supply. The seventeenth resistor R17 is connected between the BKGD pin of the microcontroller chip U3 and the positive 5V power supply. The model of the microcontroller chip U3 is MC9S08QG8.

[0014] The CAN communication circuit includes: a CAN bus controller U4, a CAN bus transceiver U5, an eighteenth resistor R18, a fourth capacitor C4, a CAN bus connection terminal J4, and a crystal oscillator 12-14. The fourth capacitor C4 is connected between the VCC and RS pins of the CAN bus transceiver U5. One end of the CAN bus connection terminal J4 is connected to the CANH pin of the CAN bus transceiver U5, and the other end is connected to the CANL pin of the CAN bus transceiver U5. The eighteenth resistor R18 is connected between the CANH and CANL pins of the CAN bus transceiver U5. The GND pin of the CAN bus transceiver U5 is grounded, and the VCC pin of the CAN bus transceiver U5 is connected to the power supply. 3V, the TXD pin of CAN bus transceiver U5 is connected to the RX pin of CAN bus controller U4, the RXD pin of CAN bus transceiver U5 is connected to the TX pin of CAN bus controller U4, the CS pin of CAN bus controller U4 is connected to the PB4 pin of microcontroller chip U3, the MISO pin of CAN bus controller U4 is connected to the PB5 pin of microcontroller chip U3, the MOSI pin of CAN bus controller U4 is connected to the PB6 pin of microcontroller chip U3, the SCK pin of CAN bus controller U4 is connected to the PB7 pin of microcontroller chip U3, and the crystal oscillator Y1 is connected between the OSC1 and OSC2 pins of CAN bus controller U4.

[0015] The CAN bus controller U4 is model MCP2515, and the CAN bus transceiver U5 is model TJA1050.

[0016] The second resistor R2, the third resistor R3, the fourth resistor R4, and the fifth resistor R5 satisfy the following relationship: R2=R3, R4=R5, where The armature internal resistance value of the motor, Given the value of the first adjustable resistor R1, the output of the first operational amplifier Q1 is... ;

[0017] The resistance of the digital potentiometer is The capacitance of the first capacitor C1 is The equivalent capacitance value of an adjustable gain capacitive circuit for:

[0018] ;

[0019] The force applied by the facility to the mechanical end of the device is The relative speed of the mechanical end is The rotation ratio of ball screw 7 is The product of the motor's speed constant and torque constant is The moment of inertia of the motor is The relative velocity at the mechanical end causes the angular velocity of the motor shaft to be:

[0020] ;

[0021] The resulting motor current is:

[0022] ;

[0023] The output force of the motor is:

[0024] ;

[0025] Motor rotation damping is The induced electromotive force of the DC brushed motor (2) and the force applied at the mechanical end are obtained as follows:

[0026] .

[0027] Beneficial effects: The present invention has the following advantages: 1. The present invention is a capacitive circuit with adjustable gain based on operational amplifier circuit, thereby realizing semi-active inertial capacitance with adjustable inertial capacity, and enabling rapid and individual adjustment of inertial capacity;

[0028] 2. When the capacitive gain of the controllable operational amplifier circuit module changes, the capacitive current can generate a capacitive force at the mechanical output terminal of the DC brushed motor. The magnitude of this force is affected by the magnitude of the capacitive gain and can be controlled by the resistance value of the digital potentiometer. The control is simple and the operation is convenient.

[0029] 3. This device has a simple structure. When there is relative motion between the two ends of the inertial capacitive device, the ball screw can convert the linear relative motion into the rotation of the DC brushed motor. At this time, the electrical load end of the DC brushed motor generates an induced electromotive force. This load end is connected to the input end of the operational amplifier circuit of the controllable operational amplifier circuit module, which enables the operational amplifier circuit to receive the motion information of the inertial capacitive device, and the signal conversion efficiency is high. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the device structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the controllable operational amplifier circuit module of the present invention;

[0032] Figure 3 This is a schematic diagram of the controllable capacitive gain circuit, controller circuit, and CAN communication circuit of the present invention.

[0033] Figure 4 This is a schematic diagram of a vehicle suspension system using the device of the present invention. Detailed Implementation

[0034] The technical solution of the present invention will be described in detail below with reference to the embodiments and accompanying drawings.

[0035] like Figure 1 As shown, the semi-active inertial capacity device based on operational amplifier circuit of the present invention includes a top housing 1, a DC brushed motor 2, a fixed bearing 3, a coupling 4, a lead screw nut 5, a bottom housing 6, and a ball screw 7. It also includes a controllable operational amplifier circuit module 8 for rapidly adjusting the inertial capacity of the device. The DC brushed motor 2 is mounted on the top housing 1, and its motor shaft is connected to the ball screw 7 through the coupling 4. The ball screw 7 drives the motor shaft of the DC brushed motor 2 to rotate. The inner ring of the fixed bearing 3 is interference-fitted on the ball screw 7 near the end of the coupling 4, and the outer ring is interference-fitted on the reinforcing rib of the top housing 1. The lead screw nut 5 is fitted on the ball screw 7 and moves linearly. The bottom housing 6 is fitted on the outermost end of the ball screw 7 and fixed to the bottom surface of the lead screw nut 5. The outer diameter of the bottom housing 6 is smaller than the inner diameter of the top housing 1. The controllable operational amplifier circuit module 8 is fixed on the top housing 1, near the end of the DC brushed motor 2, and connected to the wires of the DC brushed motor 2.

[0036] like Figure 2 As shown, the controllable operational amplifier circuit module 8 includes: a controllable capacitive gain circuit based on the operational amplifier, a voltage regulator circuit, a controller circuit, and a CAN communication circuit. The voltage generated by the electrical load terminal of the DC brushed motor 2 is applied to the controllable capacitive gain circuit through the wiring terminals. The voltage regulator circuit regulates and steps down the external input control power supply to power the controllable capacitive gain circuit, the controller circuit, and the CAN communication circuit. The controller circuit communicates with the controllable capacitive gain circuit through the IIC bus and with the CAN communication circuit through the serial port. The controllable capacitive gain circuit includes: an operational amplifier circuit and a digital potentiometer circuit. The controller circuit communicates with the digital potentiometer circuit of the controllable capacitive gain circuit through the IIC bus. The operational amplifier circuit and the digital potentiometer circuit are connected through connection terminals.

[0037] The operational amplifier circuit includes: a proportional amplifier circuit, a first adder circuit, a differentiator circuit, and a second adder circuit. The proportional amplifier circuit includes: a first operational amplifier Q1, a first adjustable resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, and a fifth resistor R5. The positive input terminal of the first operational amplifier Q1 is connected to one end of the second resistor R2. The input terminal of the first adjustable resistor R1 is connected to terminal J2, and its output terminal is connected to the other end of the second resistor R2. The third resistor R3 serves as the differential signal input to the inverting input terminal of the first operational amplifier Q1. The fourth resistor R4 is connected between the inverting input terminal of the first operational amplifier Q1 and terminal J2. The fifth resistor R5 is connected between the output terminal and the positive input terminal of the first operational amplifier Q1.

[0038] The first adder circuit includes: a second operational amplifier Q2, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, and a ninth resistor R9. The sixth resistor R6 is connected between the output terminal of the first operational amplifier Q1 and the positive input terminal of the second operational amplifier Q2. The seventh resistor R7 is connected between the positive input terminal of the second operational amplifier Q2 and the input terminal of the first adjustable resistor R1. The eighth resistor R8 is connected between the inverting input terminal of the second operational amplifier Q2 and the terminal J2. The ninth resistor R9 is connected between the inverting input terminal and the output terminal of the second operational amplifier Q2.

[0039] The differentiating circuit includes: a third operational amplifier Q3, a tenth resistor R10, a digital potentiometer connection terminal J1, and a first capacitor C1. One end of the tenth resistor R10 is connected to the output terminal of the second operational amplifier Q2, and the other end is connected to one terminal of the first capacitor C1. The other terminal of the first capacitor C1 is connected to the positive input terminal of the third operational amplifier Q3. The inverting input terminal of the third operational amplifier Q3 is connected to the terminal J2. The digital potentiometer connection terminal J1 is connected between the positive input terminal and the output terminal of the third operational amplifier Q3.

[0040] The second adder circuit includes: amplifier Q4, eleventh resistor R11, twelfth resistor R12, thirteenth resistor R13, and fourteenth resistor R14. The eleventh resistor R11 is connected between the input terminal of the first adjustable resistor R1 and the positive input terminal of the fourth operational amplifier Q4. The twelfth resistor R12 is connected between the output terminal of the third operational amplifier Q3 and the positive input terminal of the fourth operational amplifier Q4. The thirteenth resistor R13 is connected between the inverting input terminal of the fourth operational amplifier Q4 and terminal J2. The fourteenth resistor R14 is connected between the inverting input terminal of the fourth operational amplifier Q4 and the output terminal of the fourth operational amplifier Q4. The output terminal of the fourth operational amplifier Q4 is connected to the output terminal of the first adjustable resistor R1.

[0041] The digital potentiometer circuit includes: a first digital potentiometer U1, a second digital potentiometer U2, a digital potentiometer output terminal J3, and a fifteenth resistor R15. Pins A0 and A1 of the first digital potentiometer U1 are grounded, and pin A2 is connected to a +3V power supply through resistor R15. Pins A0 and A1 of the second digital potentiometer U2 are connected to a +3V power supply, and pin A2 is connected to ground. The VSS pins of both the first and second digital potentiometers U1 and U2 are connected to a -3V power supply. The SCL pins of both the first and second digital potentiometers U1 and U2 are connected to PA2 of the microcontroller chip. The SDA pins of both the first and second digital potentiometers U1 and U2 are connected to PA3 of the microcontroller chip. The first digital potentiometer U1 and the second digital potentiometer U2 are model TPL0102-100PWR.

[0042] The controller circuit includes: a microcontroller chip U3, a sixteenth resistor R16, a seventeenth resistor R17, a second capacitor C2, and a third capacitor C3. The second and third capacitors C2 and C3 are connected in parallel between the VDD and VSS pins of the microcontroller chip U3. The sixteenth resistor R16 is connected between the RESET pin of the microcontroller chip U3 and the positive 5V power supply. The seventeenth resistor R17 is connected between the BKGD pin of the microcontroller chip U3 and the positive 5V power supply. The microcontroller chip U3 is model MC9S08QG8.

[0043] The CAN communication circuit includes: a CAN bus controller U4, a CAN bus transceiver U5, an eighteenth resistor R18, a fourth capacitor C4, a CAN bus connection terminal J4, and a crystal oscillator 12-14. The fourth capacitor C4 is connected between the VCC and RS pins of the CAN bus transceiver U5. One end of the CAN bus connection terminal J4 is connected to the CANH pin of the CAN bus transceiver U5, and the other end is connected to the CANL pin of the CAN bus transceiver U5. The eighteenth resistor R18 is connected between the CANH and CANL pins of the CAN bus transceiver U5. The GND pin of the CAN bus transceiver U5 is grounded, and the VCC pin of the CAN bus transceiver U5 is connected to the power supply. The 3V CAN bus transceiver U5's TXD pin is connected to the RX pin of the CAN bus controller U4, the RXD pin of U5 is connected to the TX pin of U4, the CS pin of U4 is connected to the PB4 pin of the microcontroller U3, the MISO pin of U4 is connected to the PB5 pin of U3, the MOSI pin of U4 is connected to the PB6 pin of U3, and the SCK pin of U4 is connected to the PB7 pin of U3. Crystal oscillator Y1 is connected between the OSC1 and OSC2 pins of U4. The CAN bus controller U4 is model MCP2515, and the CAN bus transceiver U5 is model TJA1050.

[0044] like Figure 3 As shown, the second resistor R2, the third resistor R3, the fourth resistor R4, and the fifth resistor R5 in this device satisfy the following relationship: R2=R3, R4=R5. Among them... The armature internal resistance value of the motor, The value of the first adjustable resistor R1 is given. The output of the first operational amplifier Q1 is... .

[0045] At this time, the resistance of the digital potentiometer is The capacitance of the first capacitor C1 is The equivalent capacitance value of an adjustable gain capacitive circuit for:

[0046] .

[0047] Assume the force applied to the mechanical end of the device is The relative speed of the mechanical end is The rotation ratio of ball screw 7 is The product of the motor's speed constant and torque constant is The moment of inertia of the motor is Therefore, the relative velocity at the mechanical end causes the motor shaft to generate the following angular velocity:

[0048]

[0049] The resulting motor current can be expressed as:

[0050]

[0051] Therefore, the output force of the motor can be calculated as follows:

[0052]

[0053] Motor rotation damping is Therefore, the induced electromotive force of the DC brushed motor 2 and the force applied at the mechanical end can be obtained as follows:

[0054] .

[0055] When relative motion occurs between the two ends of the inertial capacitive mechanical device, the ball screw 7 converts the linear relative motion into the rotation of the DC brushed motor 2. At this time, an induced electromotive force is generated at the electrical load end of the DC brushed motor 2, which is connected to the input end of the operational amplifier circuit. Due to the capacitive characteristics of the operational amplifier circuit, the current in the circuit leads the electromotive force at the two ends of the motor by 90 degrees. The CAN bus controller TJA1050 receives the control commands sent from the CAN bus and processes them. The CAN bus controller converts the processed CAN control commands into SPI signals and sends them to the microprocessor. The microprocessor maps this signal to a resistance value and then sends the mapped value to the digital potentiometer via an IIC signal. Upon receiving the signal, the digital potentiometer immediately adjusts the resistance value to the set value, thereby changing the capacitive gain of the circuit. At this time, the capacitive current in the circuit generates a capacitive force at the mechanical output end of the motor. The magnitude of this force is affected by the magnitude of the capacitive gain and can be controlled by the resistance value of the digital potentiometer. Therefore, by adjusting the resistance value of the potentiometer... This allows the inertial capacitance value of the device to be changed independently.

[0056] like Figure 4As shown, this is a vehicle suspension system using operational amplifier-based semi-active inertial capacitance. This indicates the tire's mass. This refers to the mass of the vehicle body. For the stiffness of the suspension, The static friction coefficient, The inertial capacity generated by the rotor inertia of the motor For the damping of the motor, For adjustable semi-active inertial capacity, For tire stiffness, , These represent the displacement of the tires and the vehicle body, respectively. The disturbance to the road surface; the mass block can be changed by altering the inertia capacity of the semi-active inertial capacitance. The frequency response, when ( )and When parallel resonance occurs, The acceleration response is minimized. Therefore, the system's resonant frequency is adjusted in real time for different frequency excitations to achieve optimal comfort control.

Claims

1. A semi-active inertial capacitance device based on an operational amplifier circuit, comprising a top housing (1), a DC brushed motor (2), a fixed bearing (3), a coupling (4), a lead screw nut (5), a bottom housing (6), and a ball screw (7). The DC brushed motor (2) is mounted on the top housing (1), and its motor shaft is connected to the ball screw (7) via the coupling (4). The ball screw (7) drives the motor shaft of the DC brushed motor (2) to rotate. The inner ring of the fixed bearing (3) is interference-fitted onto the ball screw (7) near the end of the coupling (4), and the outer ring is interference-fitted onto the reinforcing rib of the top housing (1). The lead screw nut (5) is fitted onto the ball screw (7) and moves linearly. The bottom housing (6) is fitted onto the outermost end of the ball screw (7) and fixed to the bottom surface of the lead screw nut (5). The outer diameter of the bottom housing (6) is smaller than the inner diameter of the top housing (1). It also includes a controllable operational amplifier circuit module (8) that enables rapid adjustment of the device’s inertia capacity. The controllable operational amplifier circuit module (8) is fixed on the top shell (1), close to one end of the DC brushed motor (2), and connected to the wires of the DC brushed motor (2). The controllable operational amplifier circuit module (8) includes a controllable capacitive gain circuit based on operational amplifier and a controller circuit. The controllable capacitive gain circuit includes an operational amplifier circuit and a digital potentiometer circuit. The controller circuit communicates with the digital potentiometer circuit of the controllable capacitive gain circuit through the IIC bus. The operational amplifier circuit and the digital potentiometer circuit are connected through connection terminals. The digital potentiometer circuit includes: a first digital potentiometer U1, a second digital potentiometer U2, a digital potentiometer output terminal J3, and a fifteenth resistor R15. The A0 and A1 pins of the first digital potentiometer U1 are grounded, and the A2 pin is connected to the +3V power supply through the fifteenth resistor R15. The A0 and A1 pins of the second digital potentiometer U2 are connected to the +3V power supply, and the A2 pin is connected to ground. The VSS pins of the first digital potentiometer U1 and the second digital potentiometer U2 are connected to the -3V power supply. The SCL pins of the first digital potentiometer U1 and the second digital potentiometer U2 are connected to PA2 of the microcontroller chip. The SDA pins of the first digital potentiometer U1 and the second digital potentiometer U2 are connected to PA3 of the microcontroller chip.

2. The semi-active inertial capacitance device based on operational amplifier circuit according to claim 1, characterized in that: The controllable operational amplifier circuit module (8) also includes a voltage regulator circuit and a CAN communication circuit. The voltage generated by the electrical load terminal of the DC brushed motor (2) is applied to the controllable capacitive gain circuit through the terminal block. The voltage regulator circuit regulates and reduces the voltage of the external input control power supply to power the controllable capacitive gain circuit, the controller circuit, and the CAN communication circuit. The controller circuit communicates with the controllable capacitive gain circuit through the IIC bus and with the CAN communication circuit through the serial port.

3. The semi-active inertial capacitance device based on operational amplifier circuit according to claim 1, characterized in that: The operational amplifier circuit includes: a proportional amplifier circuit, a first adder circuit, a differentiator circuit, and a second adder circuit. The proportional amplifier circuit includes: a first operational amplifier Q1, a first adjustable resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, and a fifth resistor R5. The positive input terminal of the first operational amplifier Q1 is connected to one end of the second resistor R2. The input terminal of the first adjustable resistor R1 is connected to terminal J2, and its output terminal is connected to the other end of the second resistor R2. The third resistor R3 serves as a differential signal input to the inverting input terminal of the first operational amplifier Q1. The fourth resistor R4 is connected between the inverting input terminal of the first operational amplifier Q1 and terminal J2. The fifth resistor R5 is connected between the output terminal and the positive input terminal of the first operational amplifier Q1. The first adder circuit includes: a second operational amplifier Q2, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, and a ninth resistor R9. The sixth resistor R6 is connected between the output terminal of the first operational amplifier Q1 and the positive input terminal of the second operational amplifier Q2. The seventh resistor R7 is connected between the positive input terminal of the second operational amplifier Q2 and the input terminal of the first adjustable resistor R1. The eighth resistor R8 is connected between the inverting input terminal of the second operational amplifier Q2 and the terminal J2. The ninth resistor R9 is connected between the inverting input terminal and the output terminal of the second operational amplifier Q2. The differentiating circuit includes: a third operational amplifier Q3, a tenth resistor R10, a digital potentiometer connection terminal J1, and a first capacitor C1. One end of the tenth resistor R10 is connected to the output terminal of the second operational amplifier Q2, and the other end is connected to one terminal of the first capacitor C1. The other terminal of the first capacitor C1 is connected to the positive input terminal of the third operational amplifier Q3. The inverting input terminal of the third operational amplifier Q3 is connected to the terminal J2. The digital potentiometer connection terminal J1 is connected between the positive input terminal and the output terminal of the third operational amplifier Q3. The second adder circuit includes: amplifier Q4, eleventh resistor R11, twelfth resistor R12, thirteenth resistor R13, and fourteenth resistor R14. The eleventh resistor R11 is connected between the input terminal of the first adjustable resistor R1 and the positive input terminal of the fourth operational amplifier Q4. The twelfth resistor R12 is connected between the output terminal of the third operational amplifier Q3 and the positive input terminal of the fourth operational amplifier Q4. The thirteenth resistor R13 is connected between the inverting input terminal of the fourth operational amplifier Q4 and terminal J2. The fourteenth resistor R14 is connected between the inverting input terminal of the fourth operational amplifier Q4 and the output terminal of the fourth operational amplifier Q4. The output terminal of the fourth operational amplifier Q4 is connected to the output terminal of the first adjustable resistor R1.

4. The semi-active inertial capacitance device based on operational amplifier circuit according to claim 1, characterized in that: The first digital potentiometer U1 and the second digital potentiometer U2 are model TPL0102-100PWR.

5. The semi-active inertial capacitance device based on operational amplifier circuit according to claim 1, characterized in that: The controller circuit includes: a microcontroller chip U3, a sixteenth resistor R16, a seventeenth resistor R17, a second capacitor C2, and a third capacitor C3. The second capacitor C2 and the third capacitor C3 are connected in parallel between the VDD and VSS pins of the microcontroller chip U3. The sixteenth resistor R16 is connected between the RESET pin of the microcontroller chip U3 and the positive 5V power supply. The seventeenth resistor R17 is connected between the BKGD pin of the microcontroller chip U3 and the positive 5V power supply. The model of the microcontroller chip U3 is MC9S08QG8.

6. The semi-active inertial capacitance device based on operational amplifier circuit according to claim 5, characterized in that: The CAN communication circuit includes: a CAN bus controller U4, a CAN bus transceiver U5, an eighteenth resistor R18, a fourth capacitor C4, a CAN bus connection terminal J4, and a crystal oscillator 12-14. The fourth capacitor C4 is connected between the VCC and RS pins of the CAN bus transceiver U5. One end of the CAN bus connection terminal J4 is connected to the CANH pin of the CAN bus transceiver U5, and the other end is connected to the CANL pin of the CAN bus transceiver U5. The eighteenth resistor R18 is connected between the CANH and CANL pins of the CAN bus transceiver U5. The GND pin of the CAN bus transceiver U5 is grounded, and the VCC pin of the CAN bus transceiver U5 is connected to the power supply. 3V, the TXD pin of CAN bus transceiver U5 is connected to the RX pin of CAN bus controller U4, the RXD pin of CAN bus transceiver U5 is connected to the TX pin of CAN bus controller U4, the CS pin of CAN bus controller U4 is connected to the PB4 pin of microcontroller chip U3, the MISO pin of CAN bus controller U4 is connected to the PB5 pin of microcontroller chip U3, the MOSI pin of CAN bus controller U4 is connected to the PB6 pin of microcontroller chip U3, the SCK pin of CAN bus controller U4 is connected to the PB7 pin of microcontroller chip U3, and the crystal oscillator Y1 is connected between the OSC1 and OSC2 pins of CAN bus controller U4.

7. The semi-active inertial capacitance device based on operational amplifier circuit according to claim 6, characterized in that: The CAN bus controller U4 is model MCP2515, and the CAN bus transceiver U5 is model TJA1050.

8. The semi-active inertial capacitance device based on an operational amplifier circuit according to any one of claims 3 to 6, characterized in that: The second resistor R2, the third resistor R3, the fourth resistor R4, and the fifth resistor R5 satisfy the following relationship: R2=R3, R4=R5, where The armature internal resistance value of the motor, Given the value of the first adjustable resistor R1, the output of the first operational amplifier Q1 is... ; The resistance of the digital potentiometer is The capacitance of the first capacitor C1 is The equivalent capacitance value of an adjustable gain capacitive circuit for: ； The force applied by the facility to the mechanical end of the device is The relative speed of the mechanical end is The rotation ratio of the ball screw (7) is The moment of inertia of the motor is The relative velocity at the mechanical end causes the angular velocity of the motor shaft to be: ； The resulting motor current is: ； The output force of the motor is: ； Motor rotation damping is The induced electromotive force of the DC brushed motor (2) and the force applied at the mechanical end are obtained as follows: 。

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